机器人手臂的机械结构和机电设置..doc

【摘 要】机器人学是一门边缘学科，它涉及电子精密机械、空间机构学、操纵动力学、人机工程学等的一门系统工程。本人在已有的机器人手臂的机械结构和机电设计的基础上，基于Motorola 公司的DSP56805单片机及PC机设计并实现了机器人臂部多关节控制系统。设计以MOTOROLA公司生产DSP56805单片机为核心，设计了机器人臂部关节控制节点的硬件电路，并在此基础上利用C语言编制了机器人臂部关节的DSP控制程序，控制算法中采用了经典的PID控制算法，论文中采用了一种用Matlab模拟仿真来近似确定PID控制参数（Kp、Ki、Kd）的方法。最后进行了系统程序、硬件仿真调试，结果表明：系统的软、硬件设计合理可行。所以机器人设计是符合要求的。关键词：控制节点、PID控制算法、PID控制参数、DSP56805、Matlab、VC 6.0Title: Robotic Arms Intelligent Control SystemAbstractThe robotics is an edge course, it involves the precise machine, the space organization, manipulated the dynamics, person with machine engineering learns a system engineering of etc.. On given foundation of an electric shock the design at the machine structure and machines of the robotic arms ,I have been up and carried out a many joints of the robotic arms control system also according to a singlechip of DSP56805 and the PC machine designs of the company of Motorola.The design of thesis’nuclere isthe Motorola company produces a singlechip of DSP56805, designed a joint of the robot arm to control the hardware telephone of the nodal point, and make use of the DSP control procedure that the C language drew up a joint of the robot arm on this foundation, adopting the PID control calculate way of the classic in the control calculate way, adopting in the thesis a kind of with the method that the analog simulation of Matlab looks like the certain PID control parameter( Kp, Ki, Kd).Carried on the debugging of the system procedure and the hardware simulation finally, the result show:This design about system of the software and the hardware don’t only go,but also is reasonable.So the robotic design meets the request.Keywords: Control the nodal point, the PID control calculate way, PID control parameter, DSP56805、Matlab、VC 6.0目 录1绪论 ………………………………………………………………11.1项目背景及意义…………………………………………………………………11.2 方案论证…………………………………………………………………………22 机器人的机械结构介绍…………………………………………32.1机器人的一般神经网络结构图…………………………………………………32.2机器人的臂部机械结构…………………………………………………………42.3机器人的臂部关节电机分布